added try-except when converting nand pos (#71)

* added try-except when converting nand pos

* added logging

rb_ws/src/buggy/scripts/serial/ros_to_bnyahaj.py

@@ -68,11 +68,14 @@ def reader_thread(self):
                 #Publish to odom topic x and y coord
                 odom = ROSOdom()
                 # convert to long lat
-                lat, long = World.utm_to_gps(packet.y, packet.x)
-                odom.pose.pose.position.x = long
-                odom.pose.pose.position.y = lat
+                try:
+                    lat, long = World.utm_to_gps(packet.y, packet.x)
+                    odom.pose.pose.position.x = long
+                    odom.pose.pose.position.y = lat
+                    self.odom_publisher.publish(odom)
+                except Exception as e:
+                    rospy.logwarn("Unable to convert other buggy position to lon lat" + e)
 
-                self.odom_publisher.publish(odom)
             elif isinstance(packet, tuple): #Are there any other packet that is a tuple
                 # print(packet)
                 self.rc_steering_angle_publisher.publish(Float64(packet[0]))
@@ -87,8 +90,6 @@ def reader_thread(self):
 
             self.read_rate.sleep()
 
-
-
     def loop(self):
         p1 = threading.Thread(target=self.writer_thread)
         p2 = threading.Thread(target=self.reader_thread)